Read the docs/documntation.pdf for further details

ESP32 Autonomous Differential Drive Car

An ESP32-based two-wheeled differential drive robot that can drive autonomously to a point selected on a mobile app, or be manually controlled via a web joystick.

The autonomous control equations were first designed and tested in Unity simulation, then deployed to the real robot.

---

Overview

• Android app detects the robot and lets the user tap a target point
• ESP32 executes the differential drive control law
• Control logic validated in Unity before real-world deployment
• Web interface provides a joystick for manual control and override

---

Features

• ESP32 motor control for differential drive robots
• Point-to-point autonomous navigation
• Unity-based simulation for control validation
• Android app for autonomous driving
• Web-based joystick for manual control

---

System Flow (short)

1. Target point selected in the mobile app
2. Control equations compute wheel velocities
3. ESP32 drives motors accordingly
4. Manual joystick can override autonomy at any time

---

Project Components